Deals with packing/unpacking and MSP streams. More...

Data Structures
struct	msp_parser

struct	msp_ident

struct	msp_status

struct	msp_raw_imu

struct	msp_servo

struct	msp_motor

struct	msp_set_motor

struct	msp_rc

struct	msp_set_raw_rc

struct	msp_raw_gps

struct	msp_set_raw_gps

struct	msp_comp_gps

struct	msp_attitude

struct	msp_altitude

struct	msp_analog

struct	msp_rc_tuning

struct	msp_set_rc_tuning

struct	_msp_pid_item

struct	msp_pid

struct	msp_set_pid

struct	msp_box

struct	msp_set_box

struct	msp_misc

struct	msp_set_misc

struct	msp_motor_pins

struct	msp_boxnames

struct	msp_pidnames

struct	msp_wp

struct	msp_set_wp

struct	msp_boxids

struct	_msp_servo_conf_item

struct	msp_servo_conf

struct	msp_select_setting

struct	msp_set_head

Macros
#define	MSP_OVERHEAD_BYTES

#define	MSP_PARSER_MAGIC 0x32aedc07

Typedefs
typedef bool(*	msp_handler_t )(enum msp_message_id msg_id, void data, uint8_t len, void context)
	Handler to be called when valid MSP messages are recieved. More...

Enumerations
enum	msp_state { MSP_STATE_IDLE, MSP_STATE_PREAMBLE, MSP_STATE_DIRECTION, MSP_STATE_SIZE, MSP_STATE_COMMAND, MSP_STATE_DATA, MSP_STATE_CHECKSUM, MSP_STATE_DISCARD }

enum	msp_parser_type { MSP_PARSER_SERVER, MSP_PARSER_CLIENT }

enum	msp_message_id { MSP_MSG_IDENT = 100, MSP_MSG_STATUS = 101, MSP_MSG_RAW_IMU = 102, MSP_MSG_SERVO = 103, MSP_MSG_MOTOR = 104, MSP_MSG_RC = 105, MSP_MSG_RAW_GPS = 106, MSP_MSG_COMP_GPS = 107, MSP_MSG_ATTITUDE = 108, MSP_MSG_ALTITUDE = 109, MSP_MSG_ANALOG = 110, MSP_MSG_RC_TUNING = 111, MSP_MSG_PID = 112, MSP_MSG_BOX = 113, MSP_MSG_MISC = 114, MSP_MSG_MOTOR_PINS = 115, MSP_MSG_BOXNAMES = 116, MSP_MSG_PIDNAMES = 117, MSP_MSG_WP = 118, MSP_MSG_BOXIDS = 119, MSP_MSG_SERVO_CONF = 120, MSP_MSG_SET_RAW_RC = 200, MSP_MSG_SET_RAW_GPS = 201, MSP_MSG_SET_PID = 202, MSP_MSG_SET_BOX = 203, MSP_MSG_SET_RC_TUNING = 204, MSP_MSG_ACC_CALIBRATION = 205, MSP_MSG_MAG_CALIBRATION = 206, MSP_MSG_SET_MISC = 207, MSP_MSG_RESET_CONF = 208, MSP_MSG_SET_WP = 209, MSP_MSG_SELECT_SETTING = 210, MSP_MSG_SET_HEAD = 211, MSP_MSG_SET_SERVO_CONF = 212, MSP_MSG_SET_MOTOR = 214, MSP_MSG_BIND = 240, MSP_MSG_EEPROM_WRITE = 250, MSP_EXT_NAV_STATUS = 121, MSP_EXT_NAV_CONFIG = 122, MSP_EXT_FW_CONFIG = 123, MSP_EXT_UID = 160, MSP_EXT_GPSSVINFO = 164, MSP_EXT_GPSDEBUGINFO = 166, MSP_EXT_ACC_TRIM = 240, MSP_EXT_SERVOMIX_CONF = 241, MSP_EXT_SET_NAV_CONFIG = 215, MSP_EXT_SET_FW_CONFIG = 216, MSP_EXT_SET_ACC_TRIM = 239, MSP_EXT_SET_SERVOMIX_CONF = 242, MSP_EXT_DEBUGMSG = 253, MSP_EXT_DEBUG = 254 }

Functions
static bool	parser_validate (struct msp_parser *p)

static bool	call_handler (struct msp_parser p, enum msp_message_id id, void buf, uint8_t len)

static enum msp_state	msp_parse_idle (struct msp_parser *p, uint8_t b)

static enum msp_state	msp_parse_preamble (struct msp_parser *p, uint8_t b)

static enum msp_state	msp_parse_direction (struct msp_parser *p, uint8_t b)

static enum msp_state	msp_parse_size (struct msp_parser *p, uint8_t b)

static enum msp_state	msp_parse_command (struct msp_parser *p, uint8_t b)

static enum msp_state	msp_parse_data (struct msp_parser *p, uint8_t b)

static enum msp_state	msp_parse_checksum (struct msp_parser *p, uint8_t b)

static enum msp_state	msp_parse_discard (struct msp_parser *p, uint8_t b)

static void	process_byte (struct msp_parser *p, uint8_t b)

struct msp_parser *	msp_parser_init (enum msp_parser_type type)
	Initialize a new parser instance. More...

int32_t	msp_process_buffer (struct msp_parser parser, void buf, uint8_t len)
	Process MSP stream from buffer. More...

int32_t	msp_process_com (struct msp_parser parser, struct pios_com_dev com)
	Process MSP stream from PIOS_COM. More...

int32_t	msp_send_com (struct msp_parser parser, struct pios_com_dev com, enum msp_message_id msg_id, void *payload, uint8_t len)
	Construct and send an MSP message via PIOS_COM. More...

int32_t	msp_register_handler (struct msp_parser parser, msp_handler_t handler, void context)
	Register a handler for valid received messages. More...

struct msp_ident	__attribute ((packed))

struct msp_box	__attribute__ ((packed))

Detailed Description

Deals with packing/unpacking and MSP streams.

Macro Definition Documentation

#define MSP_OVERHEAD_BYTES

Value:

(2 /* preamble */ \
                          + 1 /* direction */ \
                          + 1 /* size */ \
                          + 1 /* command */ \
                          + 1 /* checksum */)

Definition at line 32 of file msp.c.

#define MSP_PARSER_MAGIC 0x32aedc07

Definition at line 38 of file msp.c.

Typedef Documentation

typedef bool(* msp_handler_t)(enum msp_message_id msg_id, void *data, uint8_t len, void *context)

Handler to be called when valid MSP messages are recieved.

Parameters

[in]	msg_id	The MSP command/id of the message
[in]	data	Buffer containing the message payload (or NULL if none)
[in]	len	Length of data in buffer
[in]	context	Context pointer provided when registering handler

Return values

true	Message was handled successfully (future use/multi-handler for incompatible protocol extensions)
false	Message was not handled successfully (in future, may cause message to be passed to another handler)

Definition at line 48 of file msp.h.

Enumeration Type Documentation

enum msp_message_id

All MSP message types supported MSP_MSG_ and msp_ prefixes are used for standard MSP protocol, as documented at http://www.multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol All naming follows this standard where possible/appropriate

MSP_EXT_ and mspext_ prefixes are used for non-standard protocol extensions

Enumerator
MSP_MSG_IDENT
MSP_MSG_STATUS
MSP_MSG_RAW_IMU
MSP_MSG_SERVO
MSP_MSG_MOTOR
MSP_MSG_RC
MSP_MSG_RAW_GPS
MSP_MSG_COMP_GPS
MSP_MSG_ATTITUDE
MSP_MSG_ALTITUDE
MSP_MSG_ANALOG
MSP_MSG_RC_TUNING
MSP_MSG_PID
MSP_MSG_BOX
MSP_MSG_MISC
MSP_MSG_MOTOR_PINS
MSP_MSG_BOXNAMES
MSP_MSG_PIDNAMES
MSP_MSG_WP
MSP_MSG_BOXIDS
MSP_MSG_SERVO_CONF
MSP_MSG_SET_RAW_RC
MSP_MSG_SET_RAW_GPS
MSP_MSG_SET_PID
MSP_MSG_SET_BOX
MSP_MSG_SET_RC_TUNING
MSP_MSG_ACC_CALIBRATION
MSP_MSG_MAG_CALIBRATION
MSP_MSG_SET_MISC
MSP_MSG_RESET_CONF
MSP_MSG_SET_WP
MSP_MSG_SELECT_SETTING
MSP_MSG_SET_HEAD
MSP_MSG_SET_SERVO_CONF
MSP_MSG_SET_MOTOR
MSP_MSG_BIND
MSP_MSG_EEPROM_WRITE
MSP_EXT_NAV_STATUS
MSP_EXT_NAV_CONFIG
MSP_EXT_FW_CONFIG
MSP_EXT_UID
MSP_EXT_GPSSVINFO
MSP_EXT_GPSDEBUGINFO
MSP_EXT_ACC_TRIM
MSP_EXT_SERVOMIX_CONF
MSP_EXT_SET_NAV_CONFIG
MSP_EXT_SET_FW_CONFIG
MSP_EXT_SET_ACC_TRIM
MSP_EXT_SET_SERVOMIX_CONF
MSP_EXT_DEBUGMSG
MSP_EXT_DEBUG

Definition at line 41 of file msp_messages.h.

enum msp_parser_type

Whether the parser should act as a client or server

Enumerator
MSP_PARSER_SERVER	Act as a server (e.g. flight controller)
MSP_PARSER_CLIENT	Act as a client (e.g. OSD)

Definition at line 51 of file msp.h.

enum msp_state

Enumerator
MSP_STATE_IDLE
MSP_STATE_PREAMBLE
MSP_STATE_DIRECTION
MSP_STATE_SIZE
MSP_STATE_COMMAND
MSP_STATE_DATA
MSP_STATE_CHECKSUM
MSP_STATE_DISCARD

Definition at line 40 of file msp.c.

Function Documentation

struct msp_set_pid __attribute ( (packed) )

struct msp_box __attribute__ ( (packed) )

Definition at line 38 of file serial_4way.h.

static bool call_handler	(	struct msp_parser *	p,
		enum msp_message_id	id,
		void *	buf,
		uint8_t	len
	)

static

Definition at line 72 of file msp.c.

static enum msp_state msp_parse_checksum	(	struct msp_parser *	p,
		uint8_t	b
	)

static

Definition at line 142 of file msp.c.

static enum msp_state msp_parse_command	(	struct msp_parser *	p,
		uint8_t	b
	)

static

Definition at line 118 of file msp.c.

static enum msp_state msp_parse_data	(	struct msp_parser *	p,
		uint8_t	b
	)

static

Definition at line 132 of file msp.c.

static enum msp_state msp_parse_direction	(	struct msp_parser *	p,
		uint8_t	b
	)

static

Definition at line 93 of file msp.c.

static enum msp_state msp_parse_discard	(	struct msp_parser *	p,
		uint8_t	b
	)

static

Definition at line 151 of file msp.c.

static enum msp_state msp_parse_idle	(	struct msp_parser *	p,
		uint8_t	b
	)

static

Definition at line 79 of file msp.c.

static enum msp_state msp_parse_preamble	(	struct msp_parser *	p,
		uint8_t	b
	)

static

Definition at line 86 of file msp.c.

static enum msp_state msp_parse_size	(	struct msp_parser *	p,
		uint8_t	b
	)

static

Definition at line 110 of file msp.c.

struct msp_parser * msp_parser_init ( enum msp_parser_type type )

Initialize a new parser instance.

Parameters

[in] type Whether to act as client or server

Returns: Handle to struct msp_parser on success, NULL on failure

Definition at line 193 of file msp.c.

int32_t msp_process_buffer	(	struct msp_parser *	parser,
		void *	buf,
		uint8_t	len
	)

Process MSP stream from buffer.

Parameters

[in]	parser	Handle to parser instance
[in]	buf	Buffer containing received stream
[in]	len	Length of buffer

Returns: Number of bytes read from buffer (always all of them), or -1 on failure

Definition at line 208 of file msp.c.

int32_t msp_process_com	(	struct msp_parser *	parser,
		struct pios_com_dev *	com
	)

Process MSP stream from PIOS_COM.

Parameters

[in]	parser	Handle to parser instance
[in]	com	Handle to PIOS_COM instance

Returns: Number of bytes read from com (all available), or -1 on failure

Todo:: fix PIOS_COM to take a pointer

Definition at line 219 of file msp.c.

int32_t msp_register_handler	(	struct msp_parser *	parser,
		msp_handler_t	handler,
		void *	context
	)

Register a handler for valid received messages.

Parameters

[in]	parser	Handle to parser instance
[in]	handler	Handler function
[in]	context	Context pointer that will be passed into handler

Return values

-1	Invalid parser instance
0	Success

Definition at line 255 of file msp.c.

int32_t msp_send_com	(	struct msp_parser *	parser,
		struct pios_com_dev *	com,
		enum msp_message_id	msg_id,
		void *	payload,
		uint8_t	len
	)

Construct and send an MSP message via PIOS_COM.

Parameters

[in]	parser	Handle to parser instance
[in]	com	Handle to PIOS_COM instance
[in]	msg_id	Message ID/Command
[in]	payload	Buffer containing payload, or NULL if none
[in]	len	Length of payload (bytes)

Returns: Number of bytes read from com (all available), or -1 on failure

Todo:: not assume success

Todo:: fix PIOS_COM to take a pointer

Definition at line 235 of file msp.c.

static bool parser_validate ( struct msp_parser * p )

static

Definition at line 67 of file msp.c.

static void process_byte	(	struct msp_parser *	p,
		uint8_t	b
	)

static

Definition at line 161 of file msp.c.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation